JPH09235018A - Alignment-state converter in material gripping mechanism - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable the longitudinal and horizontal intervals between materials to be expanded or contracted while converting the number of alignments from one or to one line by providing a first expansion and contraction mechanism for expanding or contacting the intervals of a gripping unit, a rotational mechanism for rotating the unit in parallel to that expansion and contraction operation, and a second expansion and contraction mechanism for expanding or contracting the intervals of each gripping means in parallel to rotational operation. SOLUTION: When materials are carried in one-line state, gripping means 5 to 13 grip nine pieces simultaneously. Slide support pairs 17 and 18 for supporting units 2 and 4 on both sides are moved inside, and an interval with a center fixed support body 14 is contracted. Each of the gripping units 2 to 4 is rotated via a rotational mechanism, the interval between the slide support pairs 17 and 18 and the fixed support body 14 is further contracted simultaneously, the longitudinal interval between materials reaches the target value. Next, when the interval between the slide support pairs 17 and 18 and the fixed support body 14 is contracted, the longitudinal interval between the materials are left as is, the interval of each of the gripping units 2 to 4 is contracted, the horizontal interval reaches the target value, a specified alignment state is obtained, and conversion operation terminates.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an alignment state conversion device in an article gripping mechanism used when converting an alignment state while transferring an article in a caser, an answerer or the like. More specifically, an alignment state conversion device in an article gripping mechanism suitable for converting the alignment state from one row to a plurality of rows or from a plurality of rows to one row and expanding and contracting the interval between the articles to convert to a predetermined alignment state. Regarding

[0002]

2. Description of the Related Art Conventionally, a column number conversion device for converting the alignment number of articles has been known as a conversion device for this kind of alignment state (Japanese Patent Publication No. 1-51404, JP-A-57-1144).
No. 13). However, these prior arts do not have the function of expanding and contracting the intervals between the plurality of unitized gripping means, so that one row of articles conveyed at a pitch with an interval is converted into a plurality of rows. When packing in a box, the pitch between the articles should be narrowed before packing, or conversely, when the packing state of multiple rows is converted into one row and transferred to the transportation line, the transportation pitch between the articles is adjusted and supplied. I couldn't. Therefore, there is no degree of freedom in selecting the conveyance pitch when taking out or supplying the articles from the one-row conveyance line or to the one-row conveyance line, and the applicable range is limited. For this reason, it is difficult to carry the articles when they are conveyed with a space between them due to the relation with the front and rear working processes.

[0003]

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned conventional circumstances, and the vertical and horizontal intervals between articles are changed when the number of alignments is changed from one row to one row. It is an object of the present invention to provide an alignment state conversion device which can be expanded and contracted and can cope with a case where a predetermined conveyance interval is provided between articles in a single-row conveyance.

[0004]

According to the present invention, in order to solve the above-mentioned problems, in addition to a first expansion / contraction mechanism for expanding / contracting an interval between the gripping units, the space between the gripping units by the first expansion / contraction mechanism is increased. A rotating mechanism for rotating each gripping unit itself in parallel with the expanding / contracting operation, and an interval between the gripping means arranged in each gripping unit in parallel with the rotating operation of each gripping unit by the rotating mechanism is expanded / contracted. Second
A scaling mechanism is provided, and the number of alignments is converted by the rotation operation of each gripping unit by the rotation mechanism, and the vertical and horizontal intervals between the articles are converted by the scaling operation by the first expansion / reduction mechanism and the second expansion / reduction mechanism. It is characterized by The rotation mechanism may be linked to each other through a cam mechanism that converts the expansion / contraction operation of the first expansion / contraction mechanism into a front-rear operation and a rack and pinion mechanism that converts the front-rear operation into a rotation operation. Further, by linking the gripping means movably arranged in each of the gripping units to the side of the fixed support portion that rotatably supports the gripping unit, the fixing based on the rotation of each gripping unit itself by the rotating mechanism. It is possible to expand or contract the interval between the respective gripping means by utilizing the relative displacement with the support portion side. In that case, they can be linked via a pinion provided on the fixed support portion side and a rack means meshing with the pinion.

[0005]

BEST MODE FOR CARRYING OUT THE INVENTION Each of the gripping units in the present invention is configured as a unit including a plurality of known gripping means for gripping an upper portion of an article such as a bottle. In this case, the number of gripping units installed and the number of gripping means provided in one gripping unit are determined from the relationship with the number of vertical and horizontal alignments in box packaging or the like. The gripping unit is supported so as to be capable of reciprocating with respect to the gripping head main body, and is configured to be able to expand and contract the interval between the gripping units by moving the gripping unit relative to each other. The mechanism is configured. In addition,
In this case, if the number of gripping units installed is odd,
By configuring the central grip unit to expand and contract, the central grip unit can fix its position with respect to the grip head body. Further, all the gripping units are rotatably supported with respect to the gripping head main body, and are configured to change the number of alignments by rotating the gripping units by 90 degrees. That is, it is configured so that the alignment state can be converted between the one-row state and the multiple-row state by rotating the article by 90 degrees while holding the article by each holding means of each holding unit.

Even if the rotating mechanism for rotating each gripping unit itself in parallel with the expansion / contraction operation of the gripping unit is configured to be rotationally driven by a driving means such as a servomotor, reciprocating movement accompanying the expansion / contraction operation of the gripping unit. May be used to rotate. For example, the expansion / contraction operation of the gripping unit is converted into the front-back movement of the rack by the cam mechanism, and further converted into the rotation operation via the pinion and transmitted to each gripping unit so that the gripping units are simultaneously rotated. You can Needless to say, it is possible to freely set the timing at which both operations are performed in parallel.

The gripping means provided in each gripping unit are arranged so as to be capable of reciprocating, and the second expanding / contracting mechanism is arranged so that the interval between the gripping means can be expanded / contracted in parallel with the rotating operation of the gripping unit. Is configured. In this case, the driving force of the second expansion / contraction mechanism, that is, the driving force for reciprocating the gripping means may be obtained from a driving means such as an air cylinder or may be movably arranged in each gripping unit. By linking the gripping means to the fixed support portion side that rotatably supports the gripping unit, the relative displacement of the gripping unit relative to the fixed support portion side based on the rotation of each gripping unit itself is utilized. The distance between the gripping means may be increased or decreased. For example, a pinion is provided on the fixed support portion side of each gripping unit, a rack that meshes with the pinion is linked to the gripping unit side, and the rack meshes around a pinion that is in a fixed state as the gripping unit rotates. However, the expansion / contraction operation can be performed by moving each of the gripping means by utilizing the relative displacement generated during the rotation. Even in this case, needless to say, it is possible to freely set the timing at which both operations are performed in parallel.

[0008]

Embodiments of the present invention will be described below. 1 to 3 show an example of a main part when applied to an article holding head of a robot hand as one embodiment of the present invention,
1 is a front view, FIG. 2 is a plan view, and FIG. 3 is a sectional view taken along line AA. In the figure, reference numeral 1 is a gripping head main body, and an arm tip portion of a work robot (not shown) is connected to an appropriate place such as a back surface thereof and functions as an article gripping head of a robot hand.
In this embodiment, the gripping head main body 1 is provided with three sets of gripping units 2 to 4, and the gripping unit 2 includes three gripping units 5 to 7, and the gripping unit 3 includes three gripping units 5 to 7, respectively. The gripping means 8 to 10 and the gripping unit 4 are provided with three gripping means 11 to 13. That is, in the present embodiment, as one example thereof, nine articles arranged in one row are grasped and converted into an aligned state of three rows in the vertical and horizontal directions, or conversely, nine articles are arranged from the aligned state of three rows in the vertical and horizontal directions. This is an example of conversion into a column alignment state.

The central gripping unit 3 comprises a fixed support 14
It is fixed to the gripping head body 1 side via. On the other hand,
The grip units 2 and 4 on both sides are configured to be capable of reciprocating in the left-right direction via slide supports 17 and 18 slidably fitted to the guide shafts 15 and 16. In the present embodiment, one air cylinder 19 is provided as a drive means for moving the grip units 2 and 4. The operating shaft 20 of the air cylinder 19 is the slide support 18
It is connected to the side and is configured to drive the gripping unit 2. The operation of the grip unit 2 is as shown in FIG.
As shown in FIG. 3, the timing belt 23 stretched between the pulleys 21 and 22 provided on the gripping head main body 1 side is transmitted to the gripping unit 4 side and simultaneously driven. That is, the gripping unit 2 is provided on one side of the timing belt 23 via the slide support body 17,
In the present embodiment, it is connected to the upper fixed portion 24 in the figure, while
The gripping unit 4 is connected via a slide support 18 to a lower fixing portion 25, which is the other side of the timing belt 23, so that the gripping units 2 and 4 are opposite to each other with the gripping unit 3 interposed therebetween. Will work in the direction.

When the air cylinder 19 is actuated, the gripping unit 2 is driven and moves in one direction, and at the same time, the gripping unit 4 moves in the opposite direction via the timing belt 23 to expand and contract around the gripping unit 3. Will be done. As described above, in this embodiment, the slide supports 17, 18 supporting the respective grip units 2, 4 slidably fitted to the guide shafts 15, 16 and driving one slide support 17 are driven. Air cylinder 19 for
The first expansion / contraction mechanism is constituted by the timing belt 23 and the like for transmitting the operation of the slide support 17 to the other slide support 18 and moving the slide support 18 in the opposite direction.

Each of the gripping units 2 to 4 is provided with respect to the fixed support body 14 or the slide support bodies 17 and 18.
As shown in FIG. 3, it is rotatably supported via a bearing such as a bearing via a cylindrical rotary shaft portion 26. The upper portion of each rotary shaft portion 26 is provided with B- in FIG.
As shown in FIG. 4 showing the B cross section, the pinions 27 to 29
Are fixedly attached, and the racks 30 to 32 meshing with the pinions 27 to 29 move back and forth to grasp each gripping unit 2
~ 4 are configured to be rotated. The holding head body 1 is provided with a fixed cam plate 33, and the racks 30, 32 are provided in the cam grooves 34, 35 formed symmetrically with each other.
The cam followers 36 and 37 provided at are engaged. As shown in FIG. 2, a movable cam plate 38 is provided on the slide body 17 that rotatably supports the grip unit 2, and a cam follower 40 provided on the rack 31 is engaged with the cam groove 39 of the movable cam plate 38. Has been done.

However, when the slide supports 17 and 18 on both sides are actuated in opposite directions via the first expansion / contraction mechanism, the racks 30 and 32 are moved along the cam grooves 34 and 35 via the cam followers 36 and 37. Since it moves back and forth, the gripping units 2 and 4 on both sides are simultaneously rotated in the same direction via the pinions 27 and 29. On the other hand, although the central grip unit 3 is immovable in the left-right direction, the movable cam plate 38 side is moved by the slide support 17, and the rack 31 moves back and forth along the cam groove 39 via the cam follower 40.
It is simultaneously rotated in the same direction via the pinion 28. In this case, in the present embodiment, since the inclined portions of the cam grooves 34, 35, 39 are formed so as to be biased toward the expanded state side in which the gap between the grip units 2-4 is large, the grip units 2-
The rotation operation of No. 4 will be performed in the vicinity of the expanded state. In addition, the difference in stroke in the front-rear direction of the inclined portion, that is, the stroke of the racks 30 to 32, causes the grip units 2 to 4 to move 90 times.
It is set to the length to rotate by degrees. As described above, in the present embodiment, each rotary shaft body 2 of the grip units 2 to 4 is
6, pinions 27 to 29, racks 30 to 32 meshing with the pinions 27 to 29, and cam followers 36, 37, 40 provided on the racks 30 to 32.
The rotation mechanism of the grip units 2 to 4 is constituted by the cam grooves 34, 35, 39, etc. that engage with the. In the figure, reference numeral 41 is a pair of guide rollers provided on both sides of the movable cam plate 38.

Further, as shown in FIG. 3, a U-shaped support member 42 is fixed to the lower portion of the rotary shaft 26 side for rotatably supporting the grip units 2 to 4, and each grip unit 2-4 is fixed. While supporting the gripping means 6, 9 and 12 at the center of the units 2 to 4, they are slidably fitted to the guide shafts 43 and 44 attached to the support body 42 as shown in FIG. Holding means 5 on both sides via slide supports 45, 46
7, 8, 10, 11, and 13 are respectively supported so as to be capable of reciprocating. On the other hand, two pinions 47 and 48 are fixed to the fixed support 14 that rotatably supports the grip units 2 to 4 and the lower portions on the slide support 17 and 18 sides, respectively. These pinion 4
From the viewpoint of weight reduction, 7 and 48 are formed in a substantially semicircular shape and are integrally formed. As shown in FIG. 5, the rack portion 50 of the rack shaft body 49 meshes with the pinion 47, and the rack portion 52 of the rack shaft body 51 meshes with the pinion 48.

The rack shaft bodies 49 and 51 have a rectangular cross section, and the rack portions 50 and 52 formed in a part thereof are formed to be larger than the other portions. As shown in FIG. Small portions on both sides of the body 49 are slide supports 45,
It is slidably supported through 46. Further, springs 53 and 54 are elastically provided between the slide support 45 and the outer end of the rack shaft 49 and between the slide support 46 and the outer end of the rack shaft 51, respectively. The slide supports 45 and 46 are pressed against the outer end portions of the rack portions 50 and 52. Further, as shown in FIG. 3, a stopper member 56 is installed on the hook portion 55 formed on the back side of the U-shaped support body 42 so as to be replaceable according to the article. Contact members are attached to both ends of the stopper member 56 as needed, and have a function of contacting the slide support members 45 and 46 when the slide support members 45 and 46 are contracted to set the contraction interval to an alignment interval adapted to the article. In the figure, reference numeral 57 is a pressure air supply pipe, which is laid through the rotary shaft 26 and is branched at a branching portion 58 to be supplied to the gripping portions of the gripping means 5 to 13 for operation. ing.

When the grip units 2 to 4 are rotated through the above-mentioned rotating mechanism, the U-shaped support 42 and the guide shaft 43, which are fixed to the lower portion of the rotating shaft 26,
The gripping means 5, 7, 8, 10, 11, 13 supported by the slide supports 45, 46 on both sides via 44 respectively rotate around the gripping means 6, 9, 12 in the center.
With this rotation, as shown in FIGS. 5 and 6, the rack shaft bodies 49 and 51 rotate around the pinions 47 and 48 while meshing the rack portions 50 and 52 with each other. The distance between the means 6, 9 and 12 will be increased or decreased. For example, when the gripping units 2 to 4 rotate 90 degrees to the right from the state of FIG. 5 and shift to the state of FIG. 6, the rack shaft bodies 49 and 51 are engaged with the pinions 47 and 48, respectively. Since it moves relatively in the direction of the arrow, the distance between the respective gripping means is reduced. In this case, as described above, in the reduction operation,
When the slide supports 45 and 46 come into contact with the stopper member 56, further movement is stopped, and thereafter, the rack shaft 4 is further compressed while further compressing the springs 53 and 54.
Only 9,51 will move relatively. As described above, in this embodiment, the slide support members 45,
46, pinion 47, 48 and its pinion 47, 48
The rack shaft bodies 49, 51 and the like meshing with each other constitute the second expansion / contraction mechanism.

FIG. 7 shows a process of converting the alignment state of articles when the present invention is applied. Using the above-described embodiment, the articles 59 conveyed in a single row at a pitch of a constant distance Ya as shown in (a) are converted into an aligned state of 3 rows in both length and width as shown in (d) and packed in a box. The case of a caser that does this will be described as an example. When the articles 59 are conveyed in the one-row state as shown in (a), first, the grasping means 5 to 13 simultaneously grasp nine articles. Next, the air cylinder 19 is operated to move the slide supports 17 and 18 supporting the gripping units 2 and 4 on both sides to the inside, and the distance from the fixed support 14 at the center, that is, the gripping units 2 to 4 respectively. The distance Xa between them is reduced.

(B) shows a state in which the distance Xa between the slide supports 17 and 18 and the fixed support 14 is reduced to Xb. In this case, each of the gripping units 2 to 4 is rotated via the rotation mechanism, and at the same time, the second unit is rotated.
The interval between the articles 59 is reduced to Yb through the expansion / contraction mechanism. Then, the distance between the slide supports 17 and 18 and the fixed support 14 is further reduced, and each of the gripping units 2 to 4 is
When the distance between them decreases to Xc, the cam followers 36, 3 provided in the racks 30 to 32 are, as described above.
Since 7, 40 pass through the inclined portions of the cam grooves 34, 35, 39, the rotation operation is completed and the state of (c) is reached. In this state, the reduction operation by the second expansion / contraction mechanism is also completed, so that the interval between the articles 59 becomes the target Yc as shown in the figure.

Furthermore, when the distance between the slide supports 17 and 18 and the fixed support 14 is reduced by the first expansion / contraction mechanism, the distance between the gripping units 2 to 4 remains the same in the Y direction this time. Is reduced. And the target value X
When d is reached, the target alignment state (d) is obtained, and the conversion operation of the alignment state ends.

In the above description of the embodiments, an example in which an air cylinder is used as the drive means of the first expansion / contraction mechanism for expanding / contracting the grip units is shown, but other drive configurations such as a servo motor are also possible. Is. Further, in selecting the shape of the cam groove formed in the cam plate, a straight line portion is formed in front of the inclined portion formed in the cam groove when viewed from the reduction operation direction of the first expansion / contraction mechanism, and the straight line is formed. If the gap is configured to adjust the distance between the gripping units, it is possible to adjust the distance between the articles in the single row state. Incidentally, as the conveying means at a predetermined pitch in the one-row state, a screw conveying means or the like is suitable.

[0020]

As described above, according to the present invention, the vertical and horizontal intervals between articles can be expanded or contracted when the number of arrangements is changed from one row to one row, and the articles are conveyed in a single row state. It is possible to deal with the case where there is a space between each other. Moreover, since the conversion operations are executed in parallel, the conversion of the aligned state is efficiently performed, and the work speed can be increased. Further, it is also possible to perform the expansion / contraction operation between the articles by utilizing the rotation operation for converting the alignment number.

[Brief description of drawings]

FIG. 1 is a front view showing a main part of an embodiment of the present invention.

FIG. 2 is a plan view of the same.

FIG. 3 is an enlarged sectional view taken along line AA in FIG.

4 is a sectional view taken along line BB in FIG.

FIG. 5 is an operation explanatory diagram of a second expansion / contraction mechanism.

FIG. 6 is an operation explanatory diagram of a second expansion / contraction mechanism.

FIG. 7 is an operation explanatory diagram showing a conversion process of an aligned state.

[Explanation of symbols]

1 ... Gripping head main body, 2-4 ... Gripping unit, 5-13
... gripping means, 14 ... fixed support, 17, 18 ... slide support, 19 ... air cylinder, 23 ... timing belt, 26 ... rotary shaft part, 27-29 ... pinion, 30-3
2 ... rack, 33 ... fixed cam plate, 38 ... movable cam plate, 4
5, 46 ... Slide support, 47, 48 ... Pinion, 4
9, 51 ... Rack shaft body, 56 ... Stopper member

Claims (4)

[Claims] 1. A plurality of gripping units each having a plurality of gripping means for gripping an article, a first expansion / contraction mechanism for expanding / contracting an interval between the gripping units, and mutual gripping units by the first expansion / contraction mechanism. A rotation mechanism for rotating each gripping unit itself in parallel with the expansion / contraction operation between the gripping units, and an interval between the gripping means arranged in each gripping unit in parallel with the rotation operation of each gripping unit by the rotation mechanism. And a second expanding / contracting mechanism for expanding / contracting, wherein the number of alignments is converted by the rotating operation of each gripping unit by the rotating mechanism, and the vertical and horizontal directions between the articles are expanded / contracted by the expanding / contracting operation by the first expanding / contracting mechanism. An alignment state conversion device in an article gripping mechanism, characterized in that the space between the two is converted. 2. The rotating mechanism is linked so as to be interlocked via a cam mechanism for converting the expansion / contraction operation by the first expansion / contraction mechanism into a forward / backward operation and a rack and pinion mechanism for converting the forward / backward operation into a rotational operation. The alignment state conversion device in the article gripping mechanism according to claim 1. 3. The gripping means movably disposed in each gripping unit is linked to the side of a fixed support portion that rotatably supports the gripping unit, so that the gripping unit itself can be rotated by the rotating mechanism. 3. The alignment state conversion device in the article gripping mechanism according to claim 1, wherein the spacing between the gripping means is expanded or reduced by utilizing the relative displacement with the fixed support portion side based on the above. . 4. A gripping means movably arranged in each gripping unit, and a pinion provided on the fixed support portion side that rotatably supports the gripping unit and a rack means meshing with the pinion. The alignment state conversion device in the article gripping mechanism according to claim 3, wherein the alignment state conversion device is linked to the fixed support portion side.